# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <hess> at <Mon Apr 18 08:11:49 PDT 2005>
# 
# Mission Summary:
#     Route File:               CoreLinesW.rte
#     Mission File:             CoreLinesW.cfg
#     Distance:                 7212.442901 (m)
#     Estimated Time:           6826 (s)  1.896 (hr)
#     Abort Time:               8191 (s)
#     Way Points:               4
#     Route Points:             72
# 
# Mission Parameters:
#     Minimum Vehicle Altitude: 18 (m)
#     Abort Vehicle Altitude:   10 (m)
#     Maximum Vehicle Depth:    350 (m)
#     Abort Vehicle Depth:      370 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 400 (m)
#     Waypoint Spacing:         100 (m)
#     GPS Duration:             600 (s)
#     Ascend Rate:              0.5 (m/s)
#     Descend Duration:         300 (s)
#     Setpoint Duration:        30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.867062 36.809584 -77.806171 0.000000 1
#   1 -121.891183 36.788599 -387.601624 3170.447797 1
#   2 -121.918516 36.790615 -423.550819 5619.635542 1
#   3 -121.919412 36.804954 -92.385073 7212.442901 1
# 
# A total of 72 mission points have been defined.
# 
# Define Mission parameters:
#define MISSION_SPEED      1.500000
#define MISSION_DISTANCE   7212.442901
#define MISSION_TIME       6826
#define MISSION_TIMEOUT    8191
#define DEPTH_MAX          350.000000
#define DEPTH_ABORT        370.000000
#define ALTITUDE_MIN       18.000000
#define ALTITUDE_ABORT     10.000000
#define GPS_DURATION       600
#define DESCENT_DEPTH      3.000000
#define DESCEND_DURATION   300
#define SETPOINT_DURATION  30
#define GPSMINHITS         60
#define ASCENDRUDDER       10.000000
#define ASCENDPITCH        20.000000
#define ASCENDENDDEPTH     2.000000
#define DESCENDPITCH       -15.000000
#define MAXCROSSTRACKERROR 20
#define RESON_DURATION     6
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer 
{
timeOut = MISSION_TIMEOUT;
}
# 
# depth envelope
behavior depthEnvelope 
{
minDepth = 0;
maxDepth     = DEPTH_MAX;
abortDepth   = DEPTH_ABORT;
minAltitude  = ALTITUDE_MIN;
abortAltitude = ALTITUDE_ABORT;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
# 
# ascend behavior 
behavior ascend  
{ 
duration  = 300; 
horizontalMode   = rudder; 
horizontal       = ASCENDRUDDER; 
pitch            = ASCENDPITCH; 
speed            = MISSION_SPEED; 
endDepth         = ASCENDENDDEPTH; 
} 
# 
#######################################################
# 
# Waypoint behavior to get to end of line 3
#   Segment length 16.643529 meters
#   Minimum depth: 92.385073 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 74.385073 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804954; 
longitude    = -121.919412; 
captureRadius = 10; 
duration     = 13; 
depth        = 74.385073; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 3
#   Segment length 115.352099 meters
#   Minimum depth: 92.385073 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 74.385073 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804804; 
longitude    = -121.919403; 
captureRadius = 10; 
duration     = 92; 
depth        = 74.385073; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 108.630687 meters
#   Minimum depth: 92.385073 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 74.385073 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.803766; 
longitude    = -121.919338; 
captureRadius = 10; 
duration     = 86; 
depth        = 74.385073; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434859 meters
#   Minimum depth: 92.385073 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 74.385073 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802788; 
longitude    = -121.919277; 
captureRadius = 10; 
duration     = 99; 
depth        = 74.385073; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434841 meters
#   Minimum depth: 93.179571 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 75.179571 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.801668; 
longitude    = -121.919207; 
captureRadius = 10; 
duration     = 99; 
depth        = 75.179571; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434825 meters
#   Minimum depth: 94.470720 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 76.470720 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800547; 
longitude    = -121.919137; 
captureRadius = 10; 
duration     = 99; 
depth        = 76.470720; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434809 meters
#   Minimum depth: 107.141363 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 89.141363 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.799427; 
longitude    = -121.919067; 
captureRadius = 10; 
duration     = 99; 
depth        = 89.141363; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434792 meters
#   Minimum depth: 150.288178 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 132.288178 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798307; 
longitude    = -121.918997; 
captureRadius = 10; 
duration     = 99; 
depth        = 132.288178; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434775 meters
#   Minimum depth: 192.110933 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 174.110933 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.797187; 
longitude    = -121.918927; 
captureRadius = 10; 
duration     = 99; 
depth        = 174.110933; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434759 meters
#   Minimum depth: 226.030532 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 208.030532 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.796067; 
longitude    = -121.918857; 
captureRadius = 10; 
duration     = 99; 
depth        = 208.030532; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434742 meters
#   Minimum depth: 260.139200 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 242.139200 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.794946; 
longitude    = -121.918787; 
captureRadius = 10; 
duration     = 99; 
depth        = 242.139200; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434725 meters
#   Minimum depth: 293.943262 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 275.943262 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.793826; 
longitude    = -121.918717; 
captureRadius = 10; 
duration     = 99; 
depth        = 275.943262; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 124.434709 meters
#   Minimum depth: 333.719672 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 315.719672 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.792706; 
longitude    = -121.918647; 
captureRadius = 10; 
duration     = 99; 
depth        = 315.719672; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 3
#   Segment length 107.833208 meters
#   Minimum depth: 368.744598 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.791586; 
longitude    = -121.918577; 
captureRadius = 10; 
duration     = 86; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 2
#   Segment length 26.742894 meters
#   Minimum depth: 375.758996 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790615; 
longitude    = -121.918516; 
captureRadius = 10; 
duration     = 21; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 2
#   Segment length 100.375041 meters
#   Minimum depth: 390.581194 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790593; 
longitude    = -121.918218; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375172 meters
#   Minimum depth: 408.305086 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790510; 
longitude    = -121.917097; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375303 meters
#   Minimum depth: 413.665620 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790428; 
longitude    = -121.915977; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375434 meters
#   Minimum depth: 406.648928 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790345; 
longitude    = -121.914857; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375564 meters
#   Minimum depth: 401.831658 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790262; 
longitude    = -121.913737; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375695 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790180; 
longitude    = -121.912617; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375827 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790097; 
longitude    = -121.911496; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.375957 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790015; 
longitude    = -121.910376; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376088 meters
#   Minimum depth: 395.470123 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789932; 
longitude    = -121.909256; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376219 meters
#   Minimum depth: 396.350653 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789849; 
longitude    = -121.908136; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376350 meters
#   Minimum depth: 401.387300 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789767; 
longitude    = -121.907015; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376482 meters
#   Minimum depth: 408.782950 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789684; 
longitude    = -121.905895; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376612 meters
#   Minimum depth: 440.178513 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789602; 
longitude    = -121.904775; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376743 meters
#   Minimum depth: 469.830424 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789519; 
longitude    = -121.903655; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.376875 meters
#   Minimum depth: 471.771802 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789436; 
longitude    = -121.902535; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377005 meters
#   Minimum depth: 437.104680 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789354; 
longitude    = -121.901414; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377137 meters
#   Minimum depth: 414.725533 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789271; 
longitude    = -121.900294; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377268 meters
#   Minimum depth: 398.687417 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789188; 
longitude    = -121.899174; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377399 meters
#   Minimum depth: 391.922380 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789106; 
longitude    = -121.898054; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377530 meters
#   Minimum depth: 388.692888 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789023; 
longitude    = -121.896934; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377662 meters
#   Minimum depth: 386.030551 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788941; 
longitude    = -121.895813; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377793 meters
#   Minimum depth: 385.014720 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788858; 
longitude    = -121.894693; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 100.377924 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788775; 
longitude    = -121.893573; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 2
#   Segment length 113.785771 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788693; 
longitude    = -121.892453; 
captureRadius = 10; 
duration     = 91; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to end of line 1
#   Segment length 11.213921 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788599; 
longitude    = -121.891183; 
captureRadius = 10; 
duration     = 8; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior during line 1
#   Segment length 101.551201 meters
#   Minimum depth: 384.954398 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.788673; 
longitude    = -121.891098; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.550814 meters
#   Minimum depth: 385.925961 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.789345; 
longitude    = -121.890325; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.550429 meters
#   Minimum depth: 385.259674 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790017; 
longitude    = -121.889553; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.550044 meters
#   Minimum depth: 383.523443 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.790690; 
longitude    = -121.888780; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.549657 meters
#   Minimum depth: 381.278835 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.791362; 
longitude    = -121.888007; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.549273 meters
#   Minimum depth: 380.507989 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.792034; 
longitude    = -121.887235; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.548886 meters
#   Minimum depth: 380.507989 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.792706; 
longitude    = -121.886462; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.548501 meters
#   Minimum depth: 376.086990 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.793378; 
longitude    = -121.885690; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.548115 meters
#   Minimum depth: 374.614844 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.794050; 
longitude    = -121.884917; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.547729 meters
#   Minimum depth: 374.614844 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.794722; 
longitude    = -121.884145; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 102.131384 meters
#   Minimum depth: 374.614844 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.795394; 
longitude    = -121.883372; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 100.962918 meters
#   Minimum depth: 375.473804 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.796070; 
longitude    = -121.882595; 
captureRadius = 10; 
duration     = 80; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.546573 meters
#   Minimum depth: 372.388214 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 350.000000 meters set to maximum vehicle depth
behavior waypoint  
{ 
latitude     = 36.796739; 
longitude    = -121.881827; 
captureRadius = 10; 
duration     = 81; 
depth        = 350.000000; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.546187 meters
#   Minimum depth: 348.965916 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 330.965916 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.797411; 
longitude    = -121.881054; 
captureRadius = 10; 
duration     = 81; 
depth        = 330.965916; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.545801 meters
#   Minimum depth: 336.397871 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 318.397871 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798083; 
longitude    = -121.880282; 
captureRadius = 10; 
duration     = 81; 
depth        = 318.397871; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.545416 meters
#   Minimum depth: 302.272422 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 284.272422 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.798755; 
longitude    = -121.879509; 
captureRadius = 10; 
duration     = 81; 
depth        = 284.272422; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.545030 meters
#   Minimum depth: 277.339429 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 259.339429 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.799427; 
longitude    = -121.878737; 
captureRadius = 10; 
duration     = 81; 
depth        = 259.339429; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.544645 meters
#   Minimum depth: 259.797739 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 241.797739 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800099; 
longitude    = -121.877964; 
captureRadius = 10; 
duration     = 81; 
depth        = 241.797739; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.544259 meters
#   Minimum depth: 246.397348 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 228.397348 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.800771; 
longitude    = -121.877192; 
captureRadius = 10; 
duration     = 81; 
depth        = 228.397348; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.543874 meters
#   Minimum depth: 233.926235 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 215.926235 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.801444; 
longitude    = -121.876419; 
captureRadius = 10; 
duration     = 81; 
depth        = 215.926235; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.543488 meters
#   Minimum depth: 224.913514 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 206.913514 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802116; 
longitude    = -121.875646; 
captureRadius = 10; 
duration     = 81; 
depth        = 206.913514; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.543102 meters
#   Minimum depth: 214.868289 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 196.868289 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.802788; 
longitude    = -121.874874; 
captureRadius = 10; 
duration     = 81; 
depth        = 196.868289; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.542717 meters
#   Minimum depth: 202.916927 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 184.916927 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.803460; 
longitude    = -121.874101; 
captureRadius = 10; 
duration     = 81; 
depth        = 184.916927; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.542331 meters
#   Minimum depth: 192.681755 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 174.681755 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804132; 
longitude    = -121.873329; 
captureRadius = 10; 
duration     = 81; 
depth        = 174.681755; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.541946 meters
#   Minimum depth: 168.334031 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 150.334031 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.804804; 
longitude    = -121.872556; 
captureRadius = 10; 
duration     = 81; 
depth        = 150.334031; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.541560 meters
#   Minimum depth: 146.901834 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 128.901834 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.805476; 
longitude    = -121.871784; 
captureRadius = 10; 
duration     = 81; 
depth        = 128.901834; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.541175 meters
#   Minimum depth: 115.391274 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 97.391274 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806148; 
longitude    = -121.871011; 
captureRadius = 10; 
duration     = 81; 
depth        = 97.391274; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.540789 meters
#   Minimum depth: 96.155037 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 78.155037 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.806821; 
longitude    = -121.870238; 
captureRadius = 10; 
duration     = 81; 
depth        = 78.155037; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.540403 meters
#   Minimum depth: 81.287272 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 63.287272 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.807493; 
longitude    = -121.869466; 
captureRadius = 10; 
duration     = 81; 
depth        = 63.287272; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 101.540019 meters
#   Minimum depth: 79.477184 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 61.477184 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.808165; 
longitude    = -121.868693; 
captureRadius = 10; 
duration     = 81; 
depth        = 61.477184; 
speed        = MISSION_SPEED; 
} 
# 
# Waypoint behavior during line 1
#   Segment length 112.865610 meters
#   Minimum depth: 77.778045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.778045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.808837; 
longitude    = -121.867921; 
captureRadius = 10; 
duration     = 90; 
depth        = 59.778045; 
speed        = MISSION_SPEED; 
} 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 500.000000 meters
#   Minimum depth: 77.778045 meters looking forward 400.000000 meters along route
#   Maximum vehicle depth: 350.000000 meters
#   Minimum vehicle altitude: 18.000000 meters
#   Behavior depth of 59.778045 meters set by local depth and minimum altitude
behavior waypoint  
{ 
latitude     = 36.809584; 
longitude    = -121.867062; 
captureRadius = 10; 
duration     = 480; 
depth        = 59.778045; 
speed        = MISSION_SPEED; 
} 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend  
{ 
horizontalMode   = heading; 
horizontal   = 222.078231; 
pitch        = DESCENDPITCH; 
speed        = MISSION_SPEED; 
maxDepth     = DESCENT_DEPTH; 
minAltitude  = ALTITUDE_MIN; 
duration     = DESCEND_DURATION; 
} 
# 
# setpoint on surface to gather momentum 
behavior setpoint 
{ 
duration     = SETPOINT_DURATION; 
heading      = 222.078231; 
speed        = MISSION_SPEED; 
verticalMode = pitch; 
pitch        = 0; 
} 
# 
# acquire gps fix 
behavior getgps  
{ 
duration = GPS_DURATION; 
minHits = GPSMINHITS; 
abortOnTimeout = False; 
} 
#######################################################